Leave AH mode error - 090F2002/0C570100

[Xiaoyin]

I used the Axisinterface modular for test. The core is  'X3 and drive is ctrlx drive (xcs)'.

The axie can  execute the position moving or velocity moving normally. But everytime when leave the 'ModeAH' command, the error appeared, meanwhile the servo stayed in AF state. The error can be reset. But why this error appeared? How to solve the problem?

Pls refer the pics for details.

[CodeShepherd · Accepted solution]

As there are several improvements made for such errors in the latest version please use the current release version of the ctrlX PLC Engineering 2.6.5 (including CXA_MotionInterface and CXA_MotionInterfaceUser version 2.6.1.10) as well as ctrlX MOTION app 2.6.6 and check again.

[Xiaoyin]

Thank you for reply.

The newest version of 'motion app' is 2.6.5. How could I get the 2.6.6 version?

[CodeShepherd]

It can be found in the official ctrlX Store page. 

EDIT:

Only the text in the app package in the early adopter area was incorrect. Now the correct version 2.6.6 of ctrlX MOTION is mentioned.

[_Beppo]

Hi,

I'm using Motion App 2.6.6 & PLC Engineering 2.6.2.

And I'm having the same issue, but for me the error is not resettable (even from plc, DL or webserver).

Also, I'm not able to command the axis's mode (it's stuck in AH).

I've already tried to avoid changing the OpMode if the axis is stopping or stopped (AxisStatu.Data.PlcOpenState.stopping), it solved a lot of cases, but this error sporadically pops out and I'm not able to control the axis.

Regards,

GB

[CodeShepherd]

@_Beppo like mentioned in my post above, please use latest ctrlX PLC version including latest CXA_MotionInterface libraries.

[_Beppo]

Halo @CodeShepherd,

I downloaded the lateste PLC version (says 02.06.05 from collab room), but the IDE says 02.06.02.

[CodeShepherd]

@_Beppo could you share some of your program code or commanding order, so we can see what you are doing? Which CXA_MotionInterface librariy version is used? Are any opther CXA_Motion or CXA_PLCOpen functions used?

Beware that an AH mode needs explicitly to be switched off, as the drive will also switch to AH and needs to be returned to AF. You could use the mode stopping instead of AH to not have such behaviour.

[_Beppo]

@CodeShepherd  ofc, I've attached the lib's versions below.

Nothing complicated, I just need to call different modes (not sequencially: always passing by an "idle" state). Like: AB -> AH -> "MoveAbs" -> AH -> "Flex" -> AH -> "Flex" -> AH -> "Flex" -> AH....

While developing with v02.06.04 a rexroth tech told me to avoid MoveStop since we were having some issues about it.

Anyway, it's rude, but I think I soved using the fix I've attached below, interlocking every motion mode with "MC_CoolDown_Motion" and the reset command with "MC_CoolDown_State".

Regards,

GB